visualizers.hpp

#ifndef VELODYNEUTILS_VISUALIZERS_HPP
#define VELODYNEUTILS_VISUALIZERS_HPP

#include <string>
#include <vector>

#include <boost/shared_ptr.hpp>
#include <pcl/pcl_base.h>
#include <pcl/visualization/pcl_visualizer.h>

namespace jafar {
namespace velodyneutils {

template<typename PointT>
class VisualizerCloud : public pcl::PCLBase<PointT> {
public:
    typedef typename pcl::PCLBase<PointT> BaseClass;
    typedef typename BaseClass::PointCloudConstPtr PointCloudConstPtr;
    typedef pcl::visualization::PointCloudColorHandlerGenericField<PointT>
            ColorHandler;
    typedef typename ColorHandler::Ptr ColorHandlerPtr;
    typedef boost::shared_ptr<VisualizerCloud> Ptr;
    typedef boost::shared_ptr<const VisualizerCloud> ConstPtr;

    VisualizerCloud(pcl::visualization::PCLVisualizer* visualizerIn,
                    const std::string& idIn);
    ~VisualizerCloud();

    void setInputCloud(const PointCloudConstPtr& input);
    int addHandler(const std::string& handlerField);
    int setHandler(int handlerNum);
    int switchOn(bool on);
    int visualize();

private:
    pcl::visualization::PCLVisualizer* visualizer;
    std::vector<std::string> handlersFields;
    std::vector<ColorHandlerPtr> handlers;
    int handlerNum;
    bool add;
    bool remove;
    bool on;
    std::string id;

    int findHandler(const std::string& handlerField) const;
    void updateHandlers();
    bool initCompute();
};

template<typename PointT>
class VisualizerNormals : public pcl::PCLBase<PointT> {
public:
    typedef typename pcl::PCLBase<PointT> BaseClass;
    typedef typename BaseClass::PointCloudConstPtr PointCloudConstPtr;
    typedef boost::shared_ptr<VisualizerNormals> Ptr;
    typedef boost::shared_ptr<const VisualizerNormals> ConstPtr;

    VisualizerNormals(pcl::visualization::PCLVisualizer* visualizerIn,
                      const std::string& idIn);
    ~VisualizerNormals();

    void setInputCloud(const PointCloudConstPtr& input);
    int switchOn(bool on);
    int visualize();

private:
    pcl::visualization::PCLVisualizer* visualizer;
    bool add;
    bool remove;
    bool on;
    std::string id;

    bool initCompute();
};

} // namespace velodyneutils
} // namespace jafar

#endif // VELODYNEUTILS_VISUALIZERS_HPP